#ifndef _PID_H
#define _PID_H

#include "msg.h"

void Position_PIDInit(void);
void Left_Motor_PIDInit(void);
void Right_Motor_PIDInit(void);
void Position_PIDInit(void);
void PID_Set(void);
int Position_PID_Position(int Reference_Position,int Measure_Position);
int Position_PID_Left_Motor(int Reference_Position,int Measure_Position);
int Position_PID_Right_Motor(int Reference_Position,int Measure_Position);

void Yaw_PIDInit(void);
int Yaw_PID_Position(float Reference_Yaw,float Measure_Yaw);

#endif
